/**
* @file SelfTestPlanner.h
* @author
* @brief 自检模式
* @version 1.0
* @date 2021-04-25
*
* @copyright Copyright (c) 2020
*
*/

#pragma once

#include <map>
#include <string>

namespace behavior_controller {
class SelfTestPlanner {
public :
    SelfTestPlanner() { ; };

    void run(double &linear_vel, double &angular_vel);

    std::map<std::string, int> self_test_data = {{"battery",           0},
                                                 {"motor",             0},
                                                 {"imu",               0},
                                                 {"laser",             0},
                                                 {"bumper",            0},
                                                 {"off_ground_switch", 0},
                                                 {"margin",            0},
                                                 {"cliff",             0}};
    double first_time = 0;
    bool finished = true;


};

//static
extern SelfTestPlanner self_test_planner; //实例化自检类


}